A Bio-Mechanical Designed Prosthetic Hand With Multi-Control Strategies

Abstract

In order to mimic the natural appearance, motion, and perception of the human hand, a biomechatronic approach to design an anthropomorphic prosthetic hand À À À HIT/DLR Prosthetic Hand has been presented. It reproduces human hand in its fundamental structure such as appearance, weight, and dimensions. Its thumb can move along a cone surface in 3D space. Similar with that of human's, it combines with abduction and adduction from palmar position to lateral position. Actuated by only one motor, the middle¯nger, ring¯nger, and little¯nger can envelop complex-shaped objects. In addition, the bio-mechatronic integration and cosmetic designation make it much more like a genuine human hand.HIT/DLR Prosthetic Hand can be controlled through voice control strategy, Electromyography (EMG) control strategy, EMG, and electrocutaneous sensory feedback (ESF) close loop control strategy. In EMG control system, 10 types of hand posture are recognized through six electrodes on the basis of support vector machine (SVM). The last control strategy can help an amputee recover the grasp perception, further improve the e±ciency of EMG control, and reduce the hand mis-manipulation and force delivery mistakes.

Electrotactile feedback applications for hand and arm interactions: A systematic review, meta-analysis, and future directions

“…Also, the participants in Choi et al, (2017) study received a stimulation on the upper arm, which enabled them to perceive the pressure that the prosthesis applied on the surface [75]. Equally, the participants of Huang et al, (2012) by receiving a stimulaton on forearm, were able to perceive the applied force [44]. Finally, Chai et al, (2019) showed that the electrotactile feedback on the forearm facilitates a discrimination of the size and texture (i.e., hardness and softness) of the target object, and it also assists with differentiation of the applied grasping force [73].…”

Electrotactile feedback applications for hand and arm interactions: A systematic review, meta-analysis, and future directions

“…Most haptic interfaces are therefore designed and developed for the fingers and the hands [6], [8]. In this respect, Kaczmarek et al, (2017) found that users Acceptability/Suitability [17], [24], [25], [26], [27], [28] [22], [29], [30], [31], [32], [33], [34] 1 -21 Tactile Sensation [35], [36], [37], [38], [39] [22], [33], [34], [40] 1 -21 Free Electrodes; Touchpad; Armband None; Prosthetic hand Index & Middle Fingertip; Forearm; Palm Touch Rendering [20], [24], [41], [42], [43], [44] [45], [46], [47], [48], [49], [50] [19], [51], [52], [53], [54], [55] were able to accurately differentiate the frequency and intensity of electrotactile feedback on middle fingertip [27]. Notably, the acceptability of receiving electrotactile feedback on the index fingertip has been examined and confirmed by two user studies with an adequate sample size (e.g., N = 15 or 21) [24], [25].…”

Design and Testing of a Self-Adaptive Prosthetic Finger with a Compliant Driving Mechanism

“…14 A¯ve-¯ngered underactuated prosthetic hand controlled by surface electromyographic signals is presented and it has the same function to the Laval hand. 15,16 These two hands can adapt di®erent objects passively, but they cannot actuate distal joints in free environment and thus they cannot be well tō nish precision tasks.…”